-
-
-
+
-
-
-
-
+
+
Post Processing
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
-
-
-
+
+
+ function clearChemreactor() {
+ sendPOST('delete-chemreactor', 'delete-chemreactor')
+ for(let x = 0; x < 2; x++) {
+ chem_thermo_traces[x].x = []
+ chem_thermo_traces[x].y = []
+ }
+ Plotly.newPlot('chem-thermo-graph', chem_thermo_traces, chem_thermo_layout, {scrollZoom: true});
+ }
-
+
+
+
\ No newline at end of file
diff --git a/Website Code on SD Card/plotly.js b/Website Code on SD Card/js/plotly.js
similarity index 100%
rename from Website Code on SD Card/plotly.js
rename to Website Code on SD Card/js/plotly.js
diff --git a/Website Code on SD Card/js/tabbing.js b/Website Code on SD Card/js/tabbing.js
new file mode 100644
index 0000000..3bd9126
--- /dev/null
+++ b/Website Code on SD Card/js/tabbing.js
@@ -0,0 +1,20 @@
+function openPage(pageName, elmnt, color) {
+ // Hide all elements with class="tabcontent" by default */
+ var i, tabcontent, tablinks;
+ tabcontent = document.getElementsByClassName("tabcontent");
+ for (i = 0; i < tabcontent.length; i++) {
+ tabcontent[i].style.display = "none";
+ }
+
+ // Remove the background color of all tablinks/buttons
+ tablinks = document.getElementsByClassName("tablink");
+ for (i = 0; i < tablinks.length; i++) {
+ tablinks[i].style.backgroundColor = "";
+ }
+
+ // Show the specific tab content
+ document.getElementById(pageName).style.display = "grid";
+
+ // Add the specific color to the button used to open the tab content
+ elmnt.style.backgroundColor = color;
+}
\ No newline at end of file
diff --git a/platformio.ini b/platformio.ini
new file mode 100644
index 0000000..0f4b0ed
--- /dev/null
+++ b/platformio.ini
@@ -0,0 +1,26 @@
+; PlatformIO Project Configuration File
+;
+; Build options: build flags, source filter
+; Upload options: custom upload port, speed and extra flags
+; Library options: dependencies, extra library storages
+; Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env]
+board = esp32doit-devkit-v1
+monitor_speed = 115200
+
+[env:sparkfun_esp32s2_thing_plus_c]
+platform = espressif32
+board = sparkfun_esp32s2_thing_plus_c
+framework = arduino
+; upload_speed = 921600
+
+
+lib_deps =
+ esphome/AsyncTCP-esphome@^2.1.4
+ bblanchon/ArduinoJson@^7.2.0
+ fbiego/ESP32Time@^2.0.6
+ esphome/ESPAsyncWebServer-esphome@^3.2.2
\ No newline at end of file
diff --git a/Arduino Code/BREAD-DARPA-Controls/BREAD-DARPA-Controls.ino b/src/BREAD-DARPA-Controls.ino
similarity index 86%
rename from Arduino Code/BREAD-DARPA-Controls/BREAD-DARPA-Controls.ino
rename to src/BREAD-DARPA-Controls.ino
index 5f94204..80a4fd1 100644
--- a/Arduino Code/BREAD-DARPA-Controls/BREAD-DARPA-Controls.ino
+++ b/src/BREAD-DARPA-Controls.ino
@@ -131,6 +131,14 @@ int bio_post_heaters[2][4] = { // bioreactor post processing heaters {address
float bio_post_heater_pid[2][4]; // {setpoint, Kp, Ki, Kd}
float bio_thermo_val[4] = {0,0,0,0};
+// Automatic Heater PID Vars
+uint8_t autoCheck = 0;
+uint8_t checkOsc = 0;
+uint8_t peak = 0;
+hw_timer_t *timer = NULL;
+float bio_post_heater_auto[5] = {0,0,0,0,0}; // {maxTemp, prevTemp, prevTime, Peak1, prevDeriv}
+
+
int bio_ph[2][2] = { // bioreactor pH layout {PHDO address, DCMT address}
{98, 20},
{100, 21}
@@ -404,6 +412,14 @@ Chem Decon Commands:
}else if(postName.charAt(0) == 'P') { // bioreactor post processing
uint8_t index = postName.substring(2).toInt() - 1;
switch(postName.charAt(1)) {
+ //new case for autotune 3-6-2024
+ case 'a':
+ autoCheck = 1;
+ //Send initial Kp value
+ bio_post_heater_pid[index][1] = postValue.toFloat();
+ timer = timerBegin(0, 80, true);
+ RLHTCommandPID(bio_post_heaters[index][0], bio_post_heaters[index][1], bio_post_heater_pid[index][1], 0, 0);
+ break;
case 's': //setpoint
bio_post_heater_pid[index][0] = postValue.toFloat();
RLHTCommandSetpoint(bio_post_heaters[index][0], bio_post_heaters[index][1], bio_post_heater_pid[index][0], bio_post_heaters[index][2], bio_post_heaters[index][3]);
@@ -548,8 +564,8 @@ Chem Decon Commands:
client->send("hello!", NULL, millis(), 10000);
});
server.addHandler(&events);
-
- server.serveStatic("/", SD, "/");
+ server.serveStatic("/js", SD, "/js").setCacheControl("max-age=31536000");
+ server.serveStatic("/", SD, "/").setCacheControl("max-age=31536000");
server.begin();
lastPOST = millis();
@@ -598,6 +614,22 @@ void loop() {
}
for(int i=0;i<2;i++){
float temp;
+ //if thermocouple 1?
+ if(bio_post_heaters[i][2] == 1) {
+ RLHTRequestThermo(bio_post_heaters[i][0], &(bio_thermo_val[i+2]), &(temp));
+
+ }
+ if(bio_post_heaters[i][2] == 2) {
+ RLHTRequestThermo(bio_post_heaters[i][0], &(temp), &(bio_thermo_val[i+2]));
+ //(int address, byte heater, float Ku,float setpoint, float temp, float time)
+
+ RLHTCommandPIDAuto(bio_post_heaters[i][0], bio_post_heaters[i][1],bio_post_heater_pid[i][1],bio_post_heater_pid[i][0],bio_thermo_val[4],timerReadSeconds(timer));
+ //if not oscillating...
+ if (checkOsc == 0) {
+ timerRestart(timer);
+ }
+ //RLHTCommandSetpoint(bio_post_heaters[index][0], bio_post_heaters[index][1], bio_post_heater_pid[index][0], bio_post_heaters[index][2], bio_post_heaters[index][3]);
+ }
if(bio_post_heaters[i][2] == 1)
RLHTRequestThermo(bio_post_heaters[i][0], &(bio_thermo_val[i+2]), &(temp));
if(bio_post_heaters[i][2] == 2)
@@ -714,6 +746,77 @@ void RLHTCommandSetpoint(int address, byte heater, float heatSetpoint, byte ther
Serial.println(enableReverse);
}
+
+ /*
+ * Automatically tunes heater gains (Ki, Kd, Kp)
+ *
+ * int address - address of heater slice
+ * byte heater -
+ * float Ku - ultimate gain
+ * float setpoint
+ */
+void RLHTCommandPIDAuto(int address, byte heater, float Ku,float setpoint, float temp, double time)
+{
+
+
+//we could just increase the gain super slowly
+ if (autoCheck == 1)
+ {
+ //((current T - previous T) / (current time - previous timee))
+ double driv = (temp - bio_post_heater_auto[1])/(time - bio_post_heater_auto[2]);
+ //if T is less than 2% of Setpoint and the derivative is decreasing and it isn't oscillating...
+ if ((temp < setpoint - (setpoint * 0.02)) && driv - bio_post_heater_auto[4] < 0 && checkOsc == 0)
+ {
+ //double Ku and send new gains
+ Ku = Ku * 2;
+ RLHTCommandPID(address, heater, Ku, 0, 0);
+
+ }
+ else
+ {
+ //check for oscillations
+ checkOsc = 1;
+ //If MaxTemp is less than current temp, set new peak 1 max and continue
+ if(bio_post_heater_auto[0] < temp)
+ {
+ bio_post_heater_auto[0] = temp;
+ }
+ //If previous T is smaller than current, set new maximum T
+ else if(bio_post_heater_auto[1] < temp){
+ //increasing to peak 2
+ bio_post_heater_auto[0] = temp;
+ }
+ //If max observed T is larger than new and we have not found the first peak, set it as the first peak
+ if(bio_post_heater_auto[0] > temp && peak == 0){
+ bio_post_heater_auto[3] = bio_post_heater_auto[0];
+ peak = 1;
+ timerRestart(timer);
+ }
+ //If max observed T is larger than new and we have found the first peak...
+ else if (bio_post_heater_auto[0] > temp && peak == 1){
+ //Find the delta between the secondpeak-firstpeak
+ float delp = bio_post_heater_auto[0]-bio_post_heater_auto[3];
+ //If the delta is greater than 0, change Ku
+ if(delp > 0){
+ Ku = (Ku / 1.5); //or Ku - (Ku/2)
+ }
+ else{
+ float time = timerReadSeconds(timer);
+ RLHTCommandPID(address, heater, 0.6*Ku, (1.2*Ku)/time, 0.075*Ku*time);
+ checkOsc = 0;
+ autoCheck = 0;
+ timerStop(timer);
+ }
+ }
+ }
+ //saving old time, temp, and dericative
+ bio_post_heater_auto[1] = temp;
+ bio_post_heater_auto[2] = time;
+ bio_post_heater_auto[4] = driv;
+ }
+}
+
+
void RLHTCommandPID(int address, byte heater, float Kp_set, float Ki_set, float Kd_set)
{
FLOATUNION_t Kp;
@@ -746,6 +849,25 @@ void RLHTCommandPID(int address, byte heater, float Kp_set, float Ki_set, float
Serial.println(Kd.number);
}
+void RLHTCommandOffset(int address, byte heater, float offsetSetpoint)
+{
+ FLOATUNION_t offset;
+ offset.number = offsetSetpoint;
+
+ Wire.beginTransmission(address);
+ Wire.write('O');
+ Wire.write(heater);
+ for(int i=0; i<4; i++){
+ Wire.write(offset.bytes[i]); // sends one byte
+ }
+ Wire.endTransmission(); // stop transmitting
+
+ Serial.print(address);
+ Serial.print('O');
+ Serial.print(heater);
+ Serial.print(offset.number);
+}
+
void DCMTRequestTurbidity(int address, float* turbidity1, float* turbidity2)
{
bool data_received = false;
@@ -820,6 +942,7 @@ void DCMTCommandPH(int address, float pHSetpoint_set, float currentPH_set)
void DCMTCommandPHPID(int address, float Kp_set, float Ki_set, float Kd_set)
{
+ //autotune code here
FLOATUNION_t Kp, Ki, Kd;
Kp.number = Kp_set;
Ki.number = Ki_set;
@@ -888,4 +1011,4 @@ float PHDORequest(int address)
return atof(in_data);
}else
return 0;
-}
\ No newline at end of file
+}